CN105629836A - Automatic spray control system and control method with feedback detection - Google Patents
Automatic spray control system and control method with feedback detection Download PDFInfo
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- CN105629836A CN105629836A CN201610122401.3A CN201610122401A CN105629836A CN 105629836 A CN105629836 A CN 105629836A CN 201610122401 A CN201610122401 A CN 201610122401A CN 105629836 A CN105629836 A CN 105629836A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24215—Scada supervisory control and data acquisition
Abstract
The invention discloses an automatic spray control system with feedback detection, which comprises an ultrasonic dry haze dust fall nozzle, a laser transmitting device and a laser receiving device for detecting the dry haze quality, an A/D signal converter, a main controller and a pressure sensor for detecting air pressure and water pressure, wherein the laser receiving device is a photoelectric detection sensor formed by a receiving lens and a photodiode, and a sensor signal is converted through the A/D converter and is then inputted to the above main controller; and according to the signal fed back by the above A/D converter, the main controller automatically controls opening and closing degrees of the above water control solenoid valve and the air control solenoid valve through a stepper motor. The system of the invention can effectively remedy defects in the existing ultrasonic dry haze dust fall device, a laser scattering method is used for real-time monitoring, an air compressor and a valve are automatically controlled to ensure the air flow and the water flow to be kept in the best values through a PID algorithm, the device of the kind can be ensured to generate effective dry haze continuously, the service life of the device is prolonged, and the resource utilization ratio is improved.
Description
Technical field
The present invention relates to field of environment protection equipment, especially dust falling device, it is specifically related to auto spraying Controlling System and the control method of the feedback detection of a kind of band.
Background technology
Along with the development of industrial production, life, metallurgical steel-smelting electric furnace and be that the boiler of fuel constantly increases taking raw coal, the pollutent putting into air also increases thereupon. Wherein, the sucked dust granules of the atmospheric polluting material, particularly diameter of stove cellar for storing things discharge below 10 microns is the main contributor causing the occupational illness such as people's pneumoconiosis and dust pollution.
Tradition dedusting technology is based on the big class of dry gas cleaning and wet dust removal two, and dry gas cleaning again enters air after being processed by contaminated air intake dust removal installation, and this kind of passive treatment not only loses material, also easily produces secondary pollution. Wet dust removal then improves anti-dust effect by dirt point water spray is increased humidity, and it is low to the processing power of fine dusts, causes efficiency of dust collection not high.
Along with the development of dust suppression technology, micron order dry fog depositing dust has occurred, by producing micron-sized dry fog and material effect, adopt active dust suppression principle directly to be suppressed on material by dust, become avoid operation space-pollution and loss of material the most effectively, the dedusting direction saved most. such suppressing dust with dry mist system is by by hydraulic pressure, air pressure is transferred to optimum value, air accelerates to extend to resonator cavity by the nozzle segment in device, reflection becomes initial shockwave after returning, liquid forms shockwave in a low voltage state and is cut into water droplet, air push water droplet produces ultrasonic resonance with resonator cavity in resonator cavity, vaporific spraying needed for being formed (diameter < 10 microns of water fog particles), the sucked dust granules of the diameter of aerial dust-particularly less than 5 microns that suspend is carried out effectively adsorbing and coalescent agglomerating by micron order dry fog, gravitate and sedimentation, thus reach dust suppression effect.
The method of above-mentioned dry fog depositing dust specifically can be realized by such systematic procedure, utilizes pressurized air and low-pressure water to produce the dry fog (droplet size of 1-10 ��m) of micron particles through nozzle. The probability adsorb when water fog particle is close with dust granules size, filter, condensed is maximum. Dust can be stuck and coalescent increase by water or chemical agent, but those the most tiny dust only when water droplet very little with reduce water surface tension time just assemble clump together. If water fog particle diameter is greater than dust granules, so dust just only follows the air motion around water fog particle, seldom or do not contact, does not reach anti-dust effect at all. Along with the reduction of water fog particle size, when with dust granules suitable time, the latter just can with air motion with the former collision, contact and be bonded together. Water fog particle is more little, and coalescent possibility is more big.
Therefore, these (dry fog) ultra-fine water droplets attachment condensed phase is with the powder dust particle (powder dust particle of PM10 that is 10 ��m or less, namely respirable dust floats dirt) of size. Gentle a little dust granules, then big to the quality that can land, thus landing reaches treating flour dust effect from air.
Different current, the resonator cavity natural frequency that gas velocity is different from dry fog generator match and can produce the droplet of different mass. For forming required dry fog, hydraulic pressure, air pressure need to be adjusted and in optimum value, shockwave and resonator cavity natural frequency is coupled. But resonator cavity is constantly impacted by water and air in ultrasonic resonance process, resonator cavity is easily made to wear and tear; If employing the sewage with particle, resonator cavity can be produced further to damage by particle; Once employ seawater or other are containing the big water of suspended particle, resonator cavity more may being made to be corroded or block, the natural frequency of resonator cavity can be worn and torn deformation because of its cavity and increase skew.
In existing dry fog device, namely hydraulic pressure, atmospheric pressure value remain unchanged after initialization; therefore because intra resonant cavity deformation causes frequency shift after often producing to use for some time; resonator cavity is no longer coupled with initial gas pressure hydraulic pressure value; and then the problem of best dry fog cannot be produced, this can cause Dry-fog spray nozzle persistence cannot to have dust suppression, shorten the problems such as life-span.
Summary of the invention
It is an object of the invention to overcome the above problem of prior art existence, auto spraying Controlling System and the control method of the feedback detection of a kind of band are provided, the Controlling System of the present invention has dynamic tracking, the closed loop detect of self-adaptation and control texture system, this system is mainly around dry fog resonator cavity, utilize the refraction of light, scattering and principle of absorption, Laser emission and receiving trap is placed at fog nozzle, when light invests water smoke district, and the effect through water smoke, the trend of laser and intensity will change, the size speculating water fog particle concentration (unit volume water fog particle number) is changed by this kind of perception, again because the water yield has corresponding relation with concentration, when identical particle size, the more big concentration of the water yield is more high, can inferring, when the water yield is identical, particle is more big, and water smoke concentration is more low, otherwise, particle is more little, and water smoke concentration is also more high.
The present invention utilizes above-mentioned principle, devising a principal controller is core, also comprise laser transmitting-receiving and detect the system of device, water control magnetic valve, air-operated solenoid valve, wherein the function of principal controller gathers from the concentration feedback signal of laser transmitting-receiving and detection device, utilize closed-loop control pid algorithm, control signal is fed to air-operated solenoid valve, regulate the uninterrupted of air-flow, change and adapt to aqueous vapor oscillation frequency in resonator cavity, finally reach the object changing and producing water smoke concentration.
For realizing above-mentioned technical purpose, reaching above-mentioned technique effect, the present invention is achieved through the following technical solutions:
An auto spraying Controlling System for band feedback detection, comprising:
Air compressor machine, described air compressor machine is Controlling System offer gas driving source;
Water pump, described water pump is described Controlling System offer head water power;
Spraying adjusting control circuit, described spraying adjusting control circuit comprises control gas magnetic valve and control water solenoid valve, described control gas magnetic valve is arranged in the inlet pipe being connected with described air compressor machine air outlet, described control water solenoid valve is arranged on the water inlet pipe being connected with described pump outlet, described inlet pipe and water inlet pipe are all connected to one end of resonator cavity, and the other end of described resonator cavity is provided with some nozzles; By air-flow out in described air compressor machine after described inlet pipe is accelerated, extend to described resonator cavity and form shockwave, impact and form water droplet by the current of ejection in described water inlet pipe, water droplet pulverizes into dry fog through shockwave in described resonator cavity, and dry fog is in described nozzle diverging to dusty circumstances and can suck dust granules effect;
Controller, described controller is arranged on nozzle described in each and between described spraying adjusting control circuit, described controller is for controlling described spraying circuit for regulating and controlling to the adjustment of described nozzle ejection dry fog;
Also comprise:
For detecting laser beam emitting device and the laser receiver of dry fog quality, described laser beam emitting device launches laser, and laser is by being scattered after dry fog Particle Field, and the energy of the laser after being scattered is received by described laser receiver;
Some photodetectors, described photodetector records the distribution of the laser energy being scattered, and then sends into A/D converter, obtains the electrical signal for representing dry fog quality after described A/D converter is changed;
Principal controller, air compressor machine described in described main controller controls, water pump, controller, described principal controller collection is from described laser beam emitting device, laser receiver and described A/D converter change after dry fog quality feedback signal, to adjust the PID closed loop predictive control of dry fog quality as control objectives, described control gas magnetic valve and the aperture of control water solenoid valve is changed according to described A/D converter semaphore, modified value correction target is obtained again according to the velocity of variation changing rear semaphore, simultaneously, described principal controller is according to hydrauliccapsule detected value on the baroceptor on described air compressor machine and described water pump, utilize pid control algorithm to be revised accurately to control, by regulating the aperture of described control gas magnetic valve and control water solenoid valve to regulate the uninterrupted of air-flow, change the oscillation frequency of gas and water in described resonator cavity, change the concentration producing water smoke,
Operation display interface, described operation display interface is touch-screen, and described operation display interface is connected with described principal controller by the first communication module;
Remote communication module, described remote communication module is connected with described principal controller, is realized the telecommunication of described Controlling System by described remote communication module;
Power source circuit, described power source circuit is connected with described principal controller, and described power source circuit is described Controlling System offer power supply.
In a better embodiment of the present invention, comprising further, described photodetector is photorectifier matrix.
In a better embodiment of the present invention, comprising further, described laser receiver is for receiving lens.
In a better embodiment of the present invention, comprising further, the quantity of described nozzle is 12-16.
In a better embodiment of the present invention, comprising further, described first communication module and remote communication module are RS422 communication module.
In a better embodiment of the present invention, comprise further, a kind of control method, described principal controller is micro-chip, described principal controller is on the one hand to adjust the PID closed loop predictive control of dry fog quality as control objectives, change described control gas magnetic valve and control water solenoid valve aperture according to described A/D converter semaphore, then obtain modified value correction target according to the velocity of variation changing rear semaphore; On the other hand, described principal controller, according to described baroceptor and hydrauliccapsule detected value, utilizes pid control algorithm to be revised, accurately to control;
Wherein, multiloop cas PID control method comprises the following steps:
Step one, the droplet Q factor preset value Y1 setting described principal controller and pid parameter, set described control gas magnetic valve and the pid parameter of control water solenoid valve;
Wherein, droplet Q factor preset value Y1 can directly set on principal controller;
The pid parameter of principal controller comprises air-flow Proportional coefficient Kpg, air-flow integral coefficient Kig, air-flow differential coefficient KdgWith current Proportional coefficient Kpw, current integral coefficient Kiw, current differential coefficient Kdw, the pid parameter of control gas magnetic valve comprises Proportional coefficient Kp2, integral coefficient Ki2, the pid parameter of control water solenoid valve comprises Proportional coefficient Kp3, integral coefficient Ki3;
In the scale-up factor of three PID, the K of principal controllerpg��KpwValue is relatively big, is conducive to raising system to suppress the ability of a disturbance, integral coefficient Kig��KiwFor reducing steady-state error, differential coefficient Kdg��KdwFor improving system response sensitivity; And Kp2��Kp3Relatively little, add Ki2And Ki3It is convenient to pressure control system regulate;
In dry fog generation process, the best pressure reduction between the atmospheric pressure value of inlet pipe and the hydraulic pressure value of water inlet pipe is 0.1MPa, therefore except each pid parameter, also needs setting hydraulic pressure value to the dependent coefficient K of atmospheric pressure valuee;
Step 2, the initial power of setting air compressor machine and the initial voltage of magnetic valve, make air compressor machine and electromagnetic valve work, produce dry fog; The initial power of air compressor machine and the initial voltage of magnetic valve can directly set on control gas magnetic valve and control water solenoid valve, it is also possible to read from the monitoring server of rear end by radio communication module by control gas magnetic valve and control water solenoid valve;
Step 3, the first photodetector gather droplet Q factor information y1, principal controller receives y1And by y1With Y1Compare:
If y1Reach Y1, then repeating step three after preset time is waited;
If y1Do not reach Y1, then principal controller exports given atmospheric pressure value and given hydraulic pressure value;
The method of calculation of given atmospheric pressure value and given hydraulic pressure value are:
First calculate given hydraulic pressure value increment and given atmospheric pressure value increment respectively according to formula (1):
�� P (k)=Kp����e(k)+Ki��e(k)+Kd��[��e(k)-��e(k-1)](1)
Wherein, e (k)=| y1(k)-Y1|, k represent currently regulate moment, k-1 represent one adjustment the moment.
Further, K in given atmospheric pressure value increment up-to-date style is calculatedpGet Kpg, KiGet Kig, KdGet Kdg; Described K when calculating given hydraulic pressure value incrementpGet Kpw, KiGet Kiw, KdGet Kdg��
Again according to the given atmospheric pressure value P of given hydraulic pressure value incremental computationsg:
Pg(k)=Pg(k-1)+��Pg(k)(2)
Last according to given hydraulic pressure value increment and given atmospheric pressure value PgCalculate given hydraulic pressure value Pw:
Pw(k)=Pw(k-1)+��Pw(k)+Ky��Pg(3)
Step 4, control gas magnetic valve read the atmospheric pressure value p that the 2nd photodetector detectsg, receive principal controller export given atmospheric pressure value Pg, and by atmospheric pressure value pgWith given atmospheric pressure value PgCompare, output pressure value increment eg:
eg(k)=| pg(k)-Pg|(4)
And according to this atmospheric pressure value increment egCalculate power increment �� d (k) of air compressor machine:
�� d (k)=Kp2����eg(k)+Ki2��eg(k)(5)
The power d of air compressor machine is regulated again according to power increment �� d (k):
D (k)=d (k-1)+�� d (k) (6)
Meanwhile, the hydraulic pressure value p that water solenoid valve reads the 3rd photodetector and detects is controlledw, receive principal controller export given hydraulic pressure value Pw, and by this hydraulic pressure value pwWith given hydraulic pressure value PwCompare, export hydraulic pressure value increment ew:
ew(k)=| pw(k)-Pw|(7)
And according to this hydraulic pressure value increment ewCalculate voltage increment �� u (k) of magnetic valve:
�� u (k)=Kp3����ew(k)+Ki3��ew(k)(8)
The operating voltage u of magnetic valve is calculated again, with the aperture of electromagnetic valve for adjusting according to voltage increment �� u (k):
U (k)=u (k-1)+�� u (k) (9)
Step 5, repeating step three-step 4.
The invention has the beneficial effects as follows:
One, the Controlling System of the present invention adopts multiloop cas PID control module, loop cooperative cooperating is controlled as the main control loop fed back and pneumatic-hydraulic instantaneous value as the air pressure hydraulic pressure pair of feedback using the light energy signal amount that photoelectric detector obtains, achieve overall automatic control, fast response time, makes system cloud gray model more efficient.
Two, the system of the present invention is mainly around dry fog resonator cavity, utilize the refraction of light, scattering and principle of absorption, Laser emission and receiving trap is placed at fog nozzle, when light invests water smoke district, and the effect through water smoke, the trend of laser and intensity will change, the size speculating water fog particle concentration (unit volume water fog particle number) is changed by this kind of perception, again because the water yield has corresponding relation with concentration, when identical particle size, the more big concentration of the water yield is more high; Can inferring, when the water yield is identical, particle is more big, and water smoke concentration is more low; Otherwise, particle is more little, and water smoke concentration is also more high. From the relation of current and airflow signal and air pressure hydraulic pressure, we can recognize, in the ratio of certain range regulation hydraulic pressure and air pressure, the change of resonant frequency can be followed the tracks of, thus reach the size of control dry fog concentration, resonator cavity can be worked in relative broad range, thus extend its working life.
Three, the system of the present invention effectively compensate for the deficiency in existing ultrasonic wave dry fog dust falling device, laser scattering method is utilized to carry out Real-Time Monitoring, automatically air-flow and current remain on optimum value to ensure to control air compressor machine and valve by pid algorithm, ensure that this kind equipment persistence can produce effective dry fog, the life-span of extension device, it is to increase resource utilization.
Above-mentioned explanation is only the general introduction of technical solution of the present invention, in order to better understand the technique means of the present invention, and can be implemented according to the content of specification sheets, below with the better embodiment of the present invention and coordinate accompanying drawing to be described in detail as follows. The specific embodiment of the present invention is provided in detail by following examples and accompanying drawing thereof.
Accompanying drawing explanation
In order to the technical scheme being illustrated more clearly in embodiment of the present invention technology, it is briefly described to the accompanying drawing used required in the description of embodiment technology below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is Controlling System principle framework figure of the present invention;
Fig. 2 is feedback control schematic diagram of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only the present invention's part embodiment, instead of whole embodiments. Based on the embodiment in the present invention, those of ordinary skill in the art, not making other embodiments all obtained under creative work prerequisite, belong to the scope of protection of the invention.
Embodiment 1
With reference to shown in Fig. 1-2, disclosing the auto spraying Controlling System of a kind of band feedback detection in embodiment 1, this Controlling System has dynamic tracking, the closed loop detect of self-adaptation and controlling functions, and it mainly comprises with lower part:
Air compressor machine, above-mentioned air compressor machine is Controlling System offer gas driving source.
Water pump, described water pump is described Controlling System offer head water power.
Spraying adjusting control circuit, described spraying adjusting control circuit comprises control gas magnetic valve and control water solenoid valve, described control gas magnetic valve is arranged in the inlet pipe being connected with described air compressor machine air outlet, described control water solenoid valve is arranged on the water inlet pipe being connected with described pump outlet, described inlet pipe and water inlet pipe are all connected to one end of resonator cavity, and the other end of described resonator cavity is provided with some nozzles; By air-flow out in described air compressor machine after described inlet pipe is accelerated, extend to described resonator cavity and form shockwave, impact and form water droplet by the current of ejection in described water inlet pipe, water droplet pulverizes into dry fog through shockwave in described resonator cavity, and dry fog is in described nozzle diverging to dusty circumstances and can suck dust granules effect;
Controller, described controller is arranged on nozzle described in each and between described spraying adjusting control circuit, described controller is for controlling described spraying circuit for regulating and controlling to the adjustment of described nozzle ejection dry fog; Above-mentioned controller is the sub-controller of each nozzle of control.
For detecting laser beam emitting device and the laser receiver of dry fog quality, described laser beam emitting device launches laser, and laser is by being scattered after dry fog Particle Field, and the energy of the laser after being scattered is received by described laser receiver; In the present embodiment, above-mentioned laser receiver can be selected to receive lens.
Further, as shown in Figure 2, being also provided with grain diameter detection device in one end of above-mentioned laser receiver, detected the particle diameter of device detection dry fog by above-mentioned grain diameter, the particle diameter of dry fog is also the index affecting dry fog quality.
Controlling System in the present embodiment also arranges some photodetectors, and described photodetector records the distribution of the laser energy being scattered, and then sends into A/D converter, obtains the electrical signal for representing dry fog quality after described A/D converter is changed; In the present embodiment, the corresponding photodetector of each nozzle, photodetector is photorectifier matrix.
The quantity of nozzle can need increase and decrease according to concrete depositing dust environment, and in the present embodiment, the quantity of said nozzle is 12-16.
Above-mentioned Controlling System has dynamic tracking, the function of self-adapting closed loop detection and control automatically, therefore principal controller it is provided with as control core, air compressor machine described in described main controller controls, water pump, controller, described principal controller collection is from described laser beam emitting device, laser receiver and described A/D converter change after dry fog quality feedback signal, to adjust the PID closed loop predictive control of dry fog quality as control objectives, described control gas magnetic valve and the aperture of control water solenoid valve is changed according to described A/D converter semaphore, modified value correction target is obtained again according to the velocity of variation changing rear semaphore, simultaneously, described principal controller is according to hydrauliccapsule detected value on the baroceptor on described air compressor machine and described water pump, utilize pid control algorithm to be revised accurately to control, by regulating the aperture of described control gas magnetic valve and control water solenoid valve to regulate the uninterrupted of air-flow, change the oscillation frequency of gas and water in described resonator cavity, change the concentration producing water smoke.
Above-mentioned principal controller is the core of the Controlling System in the present embodiment, adopts micro-chip. And in order to compounding practice and display use, being also provided with operation display interface, described operation display interface is touch-screen, and described operation display interface is connected with described principal controller by the first communication module.
Above-mentioned Controlling System, in order to facilitate Long-distance Control, is also provided with remote communication module, and described remote communication module is connected with described principal controller, is realized the telecommunication of described Controlling System by described remote communication module. Described first communication module and remote communication module are RS422 communication module.
Controlling System in the present embodiment is by power source circuit as power supply, and described power source circuit is connected with described principal controller, and described power source circuit is described Controlling System offer power supply.
The principle of work of the Controlling System of the present embodiment is as follows:
When after the initial value setting air compressor machine and electromagnetic valve, air-flow extends to resonator cavity after inlet pipe part is accelerated and forms shockwave, the current impacting ejection in water pipe form water droplet, water droplet pulverizes into dry fog further through shockwave in resonator cavity, diffuse in dusty circumstances through Dry-fog spray nozzle, with can suck dust granules effect, play depositing dust purification air effect. Laser system Real-Time Monitoring dry fog state, the laser in laser beam emitting device, by entering dry fog Particle Field after beam expander, is received by laser pickoff receptor after dry fog scattering and imports controller into.
The working order of magnetic valve and air pump is by principal controller adjustment setting.
When because when the reason such as variation of ambient temperature or resonator abrasion causes Dry-fog spray nozzle degradation, the electrical signal of photoelectric detector strengthens, principal controller inquires about air pressure and hydraulic pressure optimum value after receiving feedback, and read the current value of pressure transmitter, in conjunction with optimum value be currently worth supercharging, stepper-motor is driven to change magnetic valve (control gas magnetic valve and control water solenoid valve) aperture, flow velocity and gas velocity is made to coordinate to change the concentration of dry fog mutually, velocity of variation correction goal pressure according to electrical signal after adjustment, Dry-fog spray nozzle is made to remain on optimum performance by Real-Time Monitoring.
Above-mentioned whole Controlling System mainly comprises: ultrasonic wave dry fog dust-settling nozzle, for detecting laser beam emitting device and laser receiver, A/D signal converter, principal controller and the pressure transmitter for detecting air pressure hydraulic pressure of dry fog quality. Laser receiver is reception lens, the photodetection sensor of photorectifier composition, and sensor signal inputs above-mentioned principal controller after above-mentioned A/D converter is changed; The signal that above-mentioned principal controller feeds back according to above-mentioned A/D converter, automatically controls above-mentioned control water solenoid valve and the opening degree of control gas magnetic valve by stepper-motor.
Dry fog quality examination mainly utilizes laser by being scattered after dry fog Particle Field, and the principle that scattering angle is different because of particle dia, the energy distribution being scattered rear laser is by receiving lens, A/D converter is sent into after being recorded by a series of photorectifier matrix, obtaining the electrical signal amount that can be used for representing dry fog quality after conversion, the value of electrical signals obtained more little explanation dry fog quality is more high.
Above-mentioned principal controller adopts micro-chip to be microcontroller, on the one hand to adjust the PID closed loop predictive control of dry fog quality as control objectives, change hydraulic control valve aperture according to transducer signal amount, then obtain modified value correction target according to the velocity of variation changing rear semaphore. On the other hand, automatic control module, according to baroceptor and hydrauliccapsule detected value, utilizes pid control algorithm to be revised, accurately to control.
Adopt multiloop cas PID control module, loop cooperative cooperating is controlled as the main control loop fed back and pneumatic-hydraulic instantaneous value as the air pressure hydraulic pressure pair of feedback using the light energy signal amount that photoelectric detector obtains, achieving overall automatic control, fast response time, makes system cloud gray model more efficient.
From the relation of current and airflow signal and air pressure hydraulic pressure, in the ratio of certain range regulation hydraulic pressure and air pressure, it is possible to follow the tracks of the change of resonant frequency, thus reach the size of control dry fog concentration, resonator cavity can be worked in relative broad range, thus extend its working life.
Controlling System in the present embodiment effectively compensate for the deficiency in existing ultrasonic wave dry fog dust falling device. Utilizing laser scattering method to carry out Real-Time Monitoring, air-flow and current remain on optimum value to ensure automatically to control air pump and valve by pid algorithm, ensure that this kind equipment persistence can produce effective dry fog, the life-span of extension device, it is to increase resource utilization.
Because the Controlling System in the present embodiment is the automatic control system with feedback detection, have employed multiloop cas PID control method, multiloop cas PID control method comprises the following steps:
Step one, the droplet Q factor preset value Y1 setting described principal controller and pid parameter, set described control gas magnetic valve and the pid parameter of control water solenoid valve.
Wherein, droplet Q factor preset value Y1 can directly set on principal controller.
The pid parameter of principal controller comprises air-flow Proportional coefficient Kpg, air-flow integral coefficient Kig, air-flow differential coefficient KdgWith current Proportional coefficient Kpw, current integral coefficient Kiw, current differential coefficient Kdw, the pid parameter of control gas magnetic valve comprises Proportional coefficient Kp2, integral coefficient Ki2, the pid parameter of control water solenoid valve comprises Proportional coefficient Kp3, integral coefficient Ki3��
In the scale-up factor of three PID, the K of principal controllerpg��KpwValue is relatively big, is conducive to raising system to suppress the ability of a disturbance, integral coefficient Kig��KiwFor reducing steady-state error, differential coefficient Kdg��KdwFor improving system response sensitivity; And Kp2��Kp3Relatively little, add Ki2And Ki3It is convenient to pressure control system regulate.
In dry fog generation process, the best pressure reduction between the atmospheric pressure value of inlet pipe and the hydraulic pressure value of water inlet pipe is 0.1MPa, therefore except each pid parameter, also needs setting hydraulic pressure value to the dependent coefficient K of atmospheric pressure valuee��
Step 2, the initial power of setting air compressor machine and the initial voltage of magnetic valve, make air compressor machine and electromagnetic valve work, produce dry fog; The initial power of air compressor machine and the initial voltage of magnetic valve can directly set on control gas magnetic valve and control water solenoid valve, it is also possible to read from the monitoring server of rear end by radio communication module by control gas magnetic valve and control water solenoid valve.
Step 3, the first photodetector gather droplet Q factor information y1, principal controller receives y1And by y1With Y1Compare:
If y1Reach Y1, then repeating step three after preset time is waited;
If y1Do not reach Y1, then principal controller exports given atmospheric pressure value and given hydraulic pressure value.
The method of calculation of given atmospheric pressure value and given hydraulic pressure value are:
First calculate given hydraulic pressure value increment and given atmospheric pressure value increment respectively according to formula (1):
�� P (k)=Kp����e(k)+Ki��e(k)+Kd��[��e(k)-��e(k-1)](1)
Wherein, e (k)=| y1(k)-Y1|, k represent currently regulate moment, k-1 represent one adjustment the moment.
Further, K in given atmospheric pressure value increment up-to-date style is calculatedpGet Kpg, KiGet Kig, KdGet Kdg; Described K when calculating given hydraulic pressure value incrementpGet Kpw, KiGet Kiw, KdGet Kdg��
Again according to the given atmospheric pressure value P of given hydraulic pressure value incremental computationsg:
Pg(k)=Pg(k-1)+��Pg(k)(2)
Last according to given hydraulic pressure value increment and given atmospheric pressure value PgCalculate given hydraulic pressure value Pw:
Pw(k)=Pw(k-1)+��Pw(k)+Ky��Pg(3)
Step 4, control gas magnetic valve read the atmospheric pressure value p that the 2nd photodetector detectsg, receive principal controller export given atmospheric pressure value Pg, and by atmospheric pressure value pgWith given atmospheric pressure value PgCompare, output pressure value increment eg:
eg(k)=| pg(k)-Pg|(4)
And according to this atmospheric pressure value increment egCalculate power increment �� d (k) of air compressor machine:
�� d (k)=Kp2����eg(k)+Ki2��eg(k)(5)
The power d of air compressor machine is regulated again according to power increment �� d (k):
D (k)=d (k-1)+�� d (k) (6)
Meanwhile, the hydraulic pressure value p that water solenoid valve reads the 3rd photodetector and detects is controlledw, receive principal controller export given hydraulic pressure value Pw, and by this hydraulic pressure value pwWith given hydraulic pressure value PwCompare, export hydraulic pressure value increment ew:
ew(k)=| pw(k)-Pw|(7)
And according to this hydraulic pressure value increment ewCalculate voltage increment �� u (k) of magnetic valve:
�� u (k)=Kp3����ew(k)+Ki3��ew(k)(8)
The operating voltage u of magnetic valve is calculated again, with the aperture of electromagnetic valve for adjusting according to voltage increment �� u (k):
U (k)=u (k-1)+�� u (k) (9)
Step 5, repeating step three-step 4.
Adopt multiloop cas PID control module, loop cooperative cooperating is controlled as the main control loop fed back and pneumatic-hydraulic instantaneous value as the air pressure hydraulic pressure pair of feedback using the light energy signal amount that photoelectric detector obtains, achieving overall automatic control, fast response time, makes system cloud gray model more efficient.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are enable to realize or use the present invention. To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments. Therefore, the present invention can not be limited in these embodiments shown in this article, but be met the widest scope consistent with principle disclosed herein and features of novelty.
Claims (6)
1. an auto spraying Controlling System for band feedback detection, comprising:
Air compressor machine, described air compressor machine is Controlling System offer gas driving source;
Water pump, described water pump is described Controlling System offer head water power;
Spraying adjusting control circuit, described spraying adjusting control circuit comprises control gas magnetic valve and control water solenoid valve, described control gas magnetic valve is arranged in the inlet pipe being connected with described air compressor machine air outlet, described control water solenoid valve is arranged on the water inlet pipe being connected with described pump outlet, described inlet pipe and water inlet pipe are all connected to one end of resonator cavity, and the other end of described resonator cavity is provided with some nozzles; By air-flow out in described air compressor machine after described inlet pipe is accelerated, extend to described resonator cavity and form shockwave, impact and form water droplet by the current of ejection in described water inlet pipe, water droplet pulverizes into dry fog through shockwave in described resonator cavity, and dry fog is in described nozzle diverging to dusty circumstances and can suck dust granules effect;
Controller, described controller is arranged on nozzle described in each and between described spraying adjusting control circuit, described controller is for controlling described spraying circuit for regulating and controlling to the adjustment of described nozzle ejection dry fog;
It is characterized in that, also comprise:
For detecting laser beam emitting device and the laser receiver of dry fog quality, described laser beam emitting device launches laser, and laser is by being scattered after dry fog Particle Field, and the energy of the laser after being scattered is received by described laser receiver;
Some photodetectors, described photodetector records the distribution of the laser energy being scattered, and then sends into A/D converter, obtains the electrical signal for representing dry fog quality after described A/D converter is changed;
Principal controller, air compressor machine described in described main controller controls, water pump, controller, described principal controller collection is from described laser beam emitting device, laser receiver and described A/D converter change after dry fog quality feedback signal, to adjust the PID closed loop predictive control of dry fog quality as control objectives, described control gas magnetic valve and the aperture of control water solenoid valve is changed according to described A/D converter semaphore, modified value correction target is obtained again according to the velocity of variation changing rear semaphore, simultaneously, described principal controller is according to hydrauliccapsule detected value on the baroceptor on described air compressor machine and described water pump, utilize pid control algorithm to be revised accurately to control, by regulating the aperture of described control gas magnetic valve and control water solenoid valve to regulate the uninterrupted of air-flow, change the oscillation frequency of gas and water in described resonator cavity, change the concentration producing water smoke,
Operation display interface, described operation display interface is touch-screen, and described operation display interface is connected with described principal controller by the first communication module;
Remote communication module, described remote communication module is connected with described principal controller, is realized the telecommunication of described Controlling System by described remote communication module;
Power source circuit, described power source circuit is connected with described principal controller, and described power source circuit is described Controlling System offer power supply.
2. the auto spraying Controlling System of band according to claim 1 feedback detection, it is characterised in that, described photodetector is photorectifier matrix.
3. the auto spraying Controlling System of band according to claim 1 feedback detection, it is characterised in that, described laser receiver is for receiving lens.
4. the auto spraying Controlling System of band according to claim 1 feedback detection, it is characterised in that, the quantity of described nozzle is 12-16.
5. the auto spraying Controlling System of band according to claim 1 feedback detection, it is characterised in that, described first communication module and remote communication module are RS422 communication module.
6. a control method, it is based on the auto spraying Controlling System of the band feedback detection described in claim 1-5 any one, it is characterized in that, described principal controller is micro-chip, described principal controller is on the one hand to adjust the PID closed loop predictive control of dry fog quality as control objectives, change described control gas magnetic valve and control water solenoid valve aperture according to described A/D converter semaphore, then obtain modified value correction target according to the velocity of variation changing rear semaphore; On the other hand, described principal controller, according to described baroceptor and hydrauliccapsule detected value, utilizes pid control algorithm to be revised, accurately to control;
Wherein, multiloop cas PID control method comprises the following steps:
Step one, the droplet Q factor preset value Y1 setting described principal controller and pid parameter, set described control gas magnetic valve and the pid parameter of control water solenoid valve;
Wherein, droplet Q factor preset value Y1 can directly set on principal controller;
The pid parameter of principal controller comprises air-flow Proportional coefficient Kpg, air-flow integral coefficient Kig, air-flow differential coefficient KdgWith current Proportional coefficient Kpw, current integral coefficient Kiw, current differential coefficient Kdw, the pid parameter of control gas magnetic valve comprises Proportional coefficient Kp2, integral coefficient Ki2, the pid parameter of control water solenoid valve comprises Proportional coefficient Kp3, integral coefficient Ki3;
In the scale-up factor of three PID, the K of principal controllerpg��KpwValue is relatively big, is conducive to raising system to suppress the ability of a disturbance, integral coefficient Kig��KiwFor reducing steady-state error, differential coefficient Kdg��KdwFor improving system response sensitivity; And Kp2��Kp3Relatively little, add Ki2And Ki3It is convenient to pressure control system regulate;
In dry fog generation process, the best pressure reduction between the atmospheric pressure value of inlet pipe and the hydraulic pressure value of water inlet pipe is 0.1MPa, therefore except each pid parameter, also needs setting hydraulic pressure value to the dependent coefficient K of atmospheric pressure valuee;
Step 2, the initial power of setting air compressor machine and the initial voltage of magnetic valve, make air compressor machine and electromagnetic valve work, produce dry fog; The initial power of air compressor machine and the initial voltage of magnetic valve can directly set on control gas magnetic valve and control water solenoid valve, it is also possible to read from the monitoring server of rear end by radio communication module by control gas magnetic valve and control water solenoid valve;
Step 3, the first photodetector gather droplet Q factor information y1, principal controller receives y1And by y1With Y1Compare:
If y1Reach Y1, then repeating step three after preset time is waited;
If y1Do not reach Y1, then principal controller exports given atmospheric pressure value and given hydraulic pressure value;
The method of calculation of given atmospheric pressure value and given hydraulic pressure value are:
First calculate given hydraulic pressure value increment and given atmospheric pressure value increment respectively according to formula (1):
�� P (k)=Kp����e(k)+Ki��e(k)+Kd��[��e(k)-��e(k-1)](1)
Wherein, e (k)=| y1(k)-Y1|, k represent currently regulate moment, k-1 represent one adjustment the moment;
Further, K in given atmospheric pressure value increment up-to-date style is calculatedpGet Kpg, KiGet Kig, KdGet Kdg; Described K when calculating given hydraulic pressure value incrementpGet Kpw, KiGet Kiw, KdGet Kdg;
Again according to the given atmospheric pressure value P of given hydraulic pressure value incremental computationsg:
Pg(k)=Pg(k-1)+��Pg(k)(2)
Last according to given hydraulic pressure value increment and given atmospheric pressure value PgCalculate given hydraulic pressure value Pw:
Pw(k)=Pw(k-1)+��Pw(k)+Ky��Pg(3)
Step 4, control gas magnetic valve read the atmospheric pressure value p that the 2nd photodetector detectsg, receive principal controller export given atmospheric pressure value Pg, and by atmospheric pressure value pgWith given atmospheric pressure value PgCompare, output pressure value increment eg:
eg(k)=| pg(k)-Pg|(4)
And according to this atmospheric pressure value increment egCalculate power increment �� d (k) of air compressor machine:
�� d (k)=Kp2����eg(k)+Ki2��eg(k)(5)
The power d of air compressor machine is regulated again according to power increment �� d (k):
D (k)=d (k-1)+�� d (k) (6)
Meanwhile, the hydraulic pressure value p that water solenoid valve reads the 3rd photodetector and detects is controlledw, receive principal controller export given hydraulic pressure value Pw, and by this hydraulic pressure value pwWith given hydraulic pressure value PwCompare, export hydraulic pressure value increment ew:
ew(k)=| pw(k)-Pw|(7)
And according to this hydraulic pressure value increment ewCalculate voltage increment �� u (k) of magnetic valve:
�� u (k)=Kp3����ew(k)+Ki3��ew(k)(8)
The operating voltage u of magnetic valve is calculated again, with the aperture of electromagnetic valve for adjusting according to voltage increment �� u (k):
U (k)=u (k-1)+�� u (k) (9)
Step 5, repeating step three-step 4.
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| CN108620472B (en) * | 2017-03-17 | 2023-08-15 | 美盛隆制罐（惠州）有限公司 | Automatic wax spraying device and method |
| CN109603367A (en) * | 2018-12-24 | 2019-04-12 | 华北科技学院 | A kind of adaptive atomizing dust removal method and device |
| CN113720277A (en) * | 2021-08-25 | 2021-11-30 | 北京科荣达航空科技股份有限公司 | Automatic measurement mechanism and automatic measurement method for fuel nozzle atomization angle |
| CN114575818A (en) * | 2022-03-31 | 2022-06-03 | 中国石油大学(北京) | Fracturing method based on gas-liquid driving pulse |
| CN114575818B (en) * | 2022-03-31 | 2023-03-17 | 中国石油大学(北京) | Fracturing method based on gas-liquid driving pulse |
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